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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_shape_group.html">ShapeGroup</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">collision::ShapeGroup Class Reference</div>  </div>
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<p><a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> can contain simple shapes.  
 <a href="classcollision_1_1_shape_group.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="shape__group_8h_source.html">shape_group.h</a>&gt;</code></p>
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Inheritance diagram for collision::ShapeGroup:</div>
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  <img src="classcollision_1_1_shape_group.png" usemap="#collision::ShapeGroup_map" alt=""/>
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<area href="classcollision_1_1_collision_object_ex.html" title="Provides functionality to use different collision solvers." alt="collision::CollisionObjectEx" shape="rect" coords="0,112,323,136"/>
<area href="classcollision_1_1_i_collision_container.html" alt="collision::ICollisionContainer" shape="rect" coords="333,112,656,136"/>
<area href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html" alt="collision::solvers::solverFCL::IFCLCollisionObjectGroup" shape="rect" coords="666,112,989,136"/>
<area href="classcollision_1_1_collision_object.html" title="Base class for CollisionObjects and some of their groups." alt="collision::CollisionObject" shape="rect" coords="0,56,323,80"/>
<area href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html" alt="collision::solvers::solverFCL::ISolverEntity_FCL" shape="rect" coords="666,56,989,80"/>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a87149f9541b5c74c56d437514118bb67"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a87149f9541b5c74c56d437514118bb67">getFclInterface</a> () const override</td></tr>
<tr class="separator:a87149f9541b5c74c56d437514118bb67"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c5a587659bca49f258665593e356920"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a1c5a587659bca49f258665593e356920">getFclEntityType</a> (void) const</td></tr>
<tr class="separator:a1c5a587659bca49f258665593e356920"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add8e127504ac6e95176a1709e132342a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#add8e127504ac6e95176a1709e132342a">getCollisionObjects</a> (std::vector&lt; <a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * &gt; &amp;obj_vec) const override</td></tr>
<tr class="separator:add8e127504ac6e95176a1709e132342a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98435b3f0d8a04eeb75bb3cba7d338e2"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a98435b3f0d8a04eeb75bb3cba7d338e2">getCollisionObjectType</a> () const</td></tr>
<tr class="separator:a98435b3f0d8a04eeb75bb3cba7d338e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa177b8b69d8d63598580c2d4f4d194c1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#aa177b8b69d8d63598580c2d4f4d194c1">getCollisionObjectClass</a> () const</td></tr>
<tr class="separator:aa177b8b69d8d63598580c2d4f4d194c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c03ac637224437c0a799b5aded85314"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a8c03ac637224437c0a799b5aded85314">ShapeGroup</a> ()</td></tr>
<tr class="separator:a8c03ac637224437c0a799b5aded85314"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8385de01d17ba83f0c2029bdcb472a35"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a8385de01d17ba83f0c2029bdcb472a35">~ShapeGroup</a> ()</td></tr>
<tr class="separator:a8385de01d17ba83f0c2029bdcb472a35"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7dae6147a3aac8fbd5342fe01765e34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#af7dae6147a3aac8fbd5342fe01765e34">toString</a> (std::ostringstream &amp;stream) const</td></tr>
<tr class="separator:af7dae6147a3aac8fbd5342fe01765e34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac6c6b853e11e3ae499f47b67855e4b1a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#ac6c6b853e11e3ae499f47b67855e4b1a">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const</td></tr>
<tr class="separator:ac6c6b853e11e3ae499f47b67855e4b1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb0954e873b8ebfdeafd277d98e967dc"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#acb0954e873b8ebfdeafd277d98e967dc">elementCount</a> (void) const</td></tr>
<tr class="memdesc:acb0954e873b8ebfdeafd277d98e967dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns count of contained objects.  <a href="#acb0954e873b8ebfdeafd277d98e967dc">More...</a><br /></td></tr>
<tr class="separator:acb0954e873b8ebfdeafd277d98e967dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8529ebb9d75bcccd8890b2ce92aba4f8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::set&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a8529ebb9d75bcccd8890b2ce92aba4f8">overlapMap</a> (const <a class="el" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;sg) const</td></tr>
<tr class="memdesc:a8529ebb9d75bcccd8890b2ce92aba4f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns lists of all objects from the other <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> that collide with each object of this <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>.  <a href="#a8529ebb9d75bcccd8890b2ce92aba4f8">More...</a><br /></td></tr>
<tr class="separator:a8529ebb9d75bcccd8890b2ce92aba4f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2be19ed418e67c3351ae7e76ba2c78f"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::pair&lt; int, int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#aa2be19ed418e67c3351ae7e76ba2c78f">overlap</a> (const <a class="el" href="classcollision_1_1_shape_group.html">ShapeGroup</a> &amp;sg) const</td></tr>
<tr class="memdesc:aa2be19ed418e67c3351ae7e76ba2c78f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns Vector of pairs of indexes of the intersecting objects within the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> and another <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>.  <a href="#aa2be19ed418e67c3351ae7e76ba2c78f">More...</a><br /></td></tr>
<tr class="separator:aa2be19ed418e67c3351ae7e76ba2c78f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb47ff923d88542916722482044654f7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#afb47ff923d88542916722482044654f7">print</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:aa93ceeb9c9ad8722e6ff4f611cb2feb3"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#aa93ceeb9c9ad8722e6ff4f611cb2feb3">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const</td></tr>
<tr class="separator:aa93ceeb9c9ad8722e6ff4f611cb2feb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a570ef4b0d6ee7ea2f2f1721d528a43"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a> (<a class="el" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> shape)</td></tr>
<tr class="memdesc:a0a570ef4b0d6ee7ea2f2f1721d528a43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a simple shape to the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>.  <a href="#a0a570ef4b0d6ee7ea2f2f1721d528a43">More...</a><br /></td></tr>
<tr class="separator:a0a570ef4b0d6ee7ea2f2f1721d528a43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a795d9f262bafe8c33ebb33d8046e4073"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a795d9f262bafe8c33ebb33d8046e4073">unpack</a> () const</td></tr>
<tr class="memdesc:a795d9f262bafe8c33ebb33d8046e4073"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns Vector of all shapes contained inside the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>.  <a href="#a795d9f262bafe8c33ebb33d8046e4073">More...</a><br /></td></tr>
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<tr class="memitem:ac46157b51daf99fdb5548cd233e76a14"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#ac46157b51daf99fdb5548cd233e76a14">getContainerInterface</a> (void) const override</td></tr>
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<tr class="memitem:aa3a3e740ded6cd1b6207ea85bcffd99c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#aa3a3e740ded6cd1b6207ea85bcffd99c">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a14fbbecda2dd65c9658089a4e665efb2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a14fbbecda2dd65c9658089a4e665efb2">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
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<tr class="memitem:a933e2518682ca55b46f6c2d164b0b082"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a933e2518682ca55b46f6c2d164b0b082">queryContainedObjectIndexList</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; int &gt; &amp;retlist) const override</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:a358c5ace931619be56d441bdd8da4762 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a8c5a1b6ed938b80cd858d9107684ca9f inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a7fa9738682fe6d4cdef843e99fa5e693 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const</td></tr>
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<tr class="memitem:a50d6ae971b8c05c6ad8e876ed3141733 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const</td></tr>
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<tr class="memitem:a7cbe600ed254b8e9ae54fd1e658d6991 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a> () const</td></tr>
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<tr class="memitem:a1e96193008a86cfe46c873d358aadc67 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a> (<a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
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<tr class="memitem:aa9cfa4115cd9b1755c848c0e8b137d9b inherit pub_methods_classcollision_1_1_i_collision_container"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_i_collision_container.html#aa9cfa4115cd9b1755c848c0e8b137d9b">ICollisionContainer</a> ()</td></tr>
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<tr class="memitem:adb35117f3f23a8e97e0314f182d3b610 inherit pub_methods_classcollision_1_1_i_collision_container"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_i_collision_container.html#adb35117f3f23a8e97e0314f182d3b610">~ICollisionContainer</a> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a654bb4a07dd22c21ddeb6d51541aa429"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a654bb4a07dd22c21ddeb6d51541aa429">shapes_</a></td></tr>
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<tr class="memitem:a08ac93521a7fe97306acfc5cb3fa12a7"><td class="memItemLeft" align="right" valign="top">std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape_group.html#a08ac93521a7fe97306acfc5cb3fa12a7">shapes_map_</a></td></tr>
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Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:ab080033cf96284d10d0a7950bf2fd595 inherit pro_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a> (void)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> can contain simple shapes. </p>
<p>The benefit of grouping objects in the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> is that a broadphase structure is built for efficient filtering of candidate objects for the collision </p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00033">33</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8c03ac637224437c0a799b5aded85314">&#9670;&nbsp;</a></span>ShapeGroup()</h2>

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<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00060">60</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8385de01d17ba83f0c2029bdcb472a35">&#9670;&nbsp;</a></span>~ShapeGroup()</h2>

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<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00062">62</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aa3a3e740ded6cd1b6207ea85bcffd99c">&#9670;&nbsp;</a></span>addParentMap() <span class="overload">[1/2]</span></h2>

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          <td class="paramtype">std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>parent_map</em></td><td>)</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00161">161</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a14fbbecda2dd65c9658089a4e665efb2">&#9670;&nbsp;</a></span>addParentMap() <span class="overload">[2/2]</span></h2>

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          <td class="paramtype">std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>parent_map</em>, </td>
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          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>parent</em>&#160;</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00152">152</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0a570ef4b0d6ee7ea2f2f1721d528a43">&#9670;&nbsp;</a></span>addToGroup()</h2>

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          <td class="memname">void collision::ShapeGroup::addToGroup </td>
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<p>Adds a simple shape to the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>. </p>
<p>The accelerator structure for collision candidates filtering is temporarily destroyed.</p>
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<dl class="section warning"><dt>Warning</dt><dd>The function is not thread-safe </dd></dl>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00139">139</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#acb0954e873b8ebfdeafd277d98e967dc">&#9670;&nbsp;</a></span>elementCount()</h2>

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<p>Returns count of contained objects. </p>

<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#a459ab17e3c3901ccbfad435db92b5a05">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00052">52</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa177b8b69d8d63598580c2d4f4d194c1">&#9670;&nbsp;</a></span>getCollisionObjectClass()</h2>

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          <td class="memname"><a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a> collision::ShapeGroup::getCollisionObjectClass </td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a0d72d251df66cd7a7f42ec11eee1531f">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00056">56</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#add8e127504ac6e95176a1709e132342a">&#9670;&nbsp;</a></span>getCollisionObjects()</h2>

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          <td class="paramtype">std::vector&lt; <a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * &gt; &amp;&#160;</td>
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<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00007">7</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a98435b3f0d8a04eeb75bb3cba7d338e2">&#9670;&nbsp;</a></span>getCollisionObjectType()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00053">53</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac46157b51daf99fdb5548cd233e76a14">&#9670;&nbsp;</a></span>getContainerInterface()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">collision::CollisionObjectEx</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00084">84</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1c5a587659bca49f258665593e356920">&#9670;&nbsp;</a></span>getFclEntityType()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#ae8dbc56c33d12828e8145da231edd4a8">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00046">46</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a87149f9541b5c74c56d437514118bb67">&#9670;&nbsp;</a></span>getFclInterface()</h2>

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          <td class="memname">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a>* collision::ShapeGroup::getFclInterface </td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">collision::CollisionObjectEx</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00042">42</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa2be19ed418e67c3351ae7e76ba2c78f">&#9670;&nbsp;</a></span>overlap()</h2>

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          <td class="memname">std::vector&lt; std::pair&lt; int, int &gt; &gt; collision::ShapeGroup::overlap </td>
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          <td class="paramname"><em>sg</em></td><td>)</td>
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<p>Returns Vector of pairs of indexes of the intersecting objects within the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> and another <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">sg</td><td>- second <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> for the intersection test </td></tr>
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<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00073">73</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8529ebb9d75bcccd8890b2ce92aba4f8">&#9670;&nbsp;</a></span>overlapMap()</h2>

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          <td class="memname">std::vector&lt; std::set&lt; int &gt; &gt; collision::ShapeGroup::overlapMap </td>
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          <td class="paramname"><em>sg</em></td><td>)</td>
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<p>Returns lists of all objects from the other <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> that collide with each object of this <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">sg</td><td>- second <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> for the intersection test</td></tr>
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<p>The output vector has as many elements as this <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> contains. Each element of the output vector is a set of indexes of all objects of the second <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a> that collide with the object corresponding to the element. </p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00033">33</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#afb47ff923d88542916722482044654f7">&#9670;&nbsp;</a></span>print()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a08e7481df513e04cc02ae6806ce56020">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00110">110</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a933e2518682ca55b46f6c2d164b0b082">&#9670;&nbsp;</a></span>queryContainedObjectIndexList()</h2>

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<p>Implements <a class="el" href="classcollision_1_1_i_collision_container.html#aecf06ebcb250e9666348b566ba03ad49">collision::ICollisionContainer</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00099">99</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac6c6b853e11e3ae499f47b67855e4b1a">&#9670;&nbsp;</a></span>rayTrace()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00054">54</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa93ceeb9c9ad8722e6ff4f611cb2feb3">&#9670;&nbsp;</a></span>timeSlice()</h2>

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          <td class="memname"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> collision::ShapeGroup::timeSlice </td>
          <td>(</td>
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          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>shared_ptr_this</em>&#160;</td>
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<p>Implements <a class="el" href="classcollision_1_1_collision_object.html#ada59ea467dae56bd3aba491fce9a05a3">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00122">122</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af7dae6147a3aac8fbd5342fe01765e34">&#9670;&nbsp;</a></span>toString()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00112">112</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a795d9f262bafe8c33ebb33d8046e4073">&#9670;&nbsp;</a></span>unpack()</h2>

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          <td class="memname">std::vector&lt; <a class="el" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> &gt; collision::ShapeGroup::unpack </td>
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<p>Returns Vector of all shapes contained inside the <a class="el" href="classcollision_1_1_shape_group.html" title="ShapeGroup can contain simple shapes.">ShapeGroup</a>. </p>

<p class="definition">Definition at line <a class="el" href="shape__group_8cc_source.html#l00150">150</a> of file <a class="el" href="shape__group_8cc_source.html">shape_group.cc</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a654bb4a07dd22c21ddeb6d51541aa429">&#9670;&nbsp;</a></span>shapes_</h2>

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          <td class="memname">std::vector&lt;<a class="el" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a>&gt; collision::ShapeGroup::shapes_</td>
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<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00100">100</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a08ac93521a7fe97306acfc5cb3fa12a7">&#9670;&nbsp;</a></span>shapes_map_</h2>

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          <td class="memname">std::unordered_map&lt;const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt;int&gt; &gt; collision::ShapeGroup::shapes_map_</td>
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<p class="definition">Definition at line <a class="el" href="shape__group_8h_source.html#l00101">101</a> of file <a class="el" href="shape__group_8h_source.html">shape_group.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/<a class="el" href="shape__group_8h_source.html">shape_group.h</a></li>
<li>cpp/collision/src/<a class="el" href="shape__group_8cc_source.html">shape_group.cc</a></li>
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